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27 lines
890 B
27 lines
890 B
#!/usr/bin/env python3
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import time
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import cereal.messaging as messaging
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from selfdrive.manager.process_config import managed_processes
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if __name__ == "__main__":
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services = ['controlsState', 'deviceState', 'radarState'] # the services needed to be spoofed to start ui offroad
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procs = ['camerad', 'ui', 'modeld', 'calibrationd']
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for p in procs:
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managed_processes[p].start()
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pm = messaging.PubMaster(services)
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dat_controlsState, dat_deviceState, dat_radar = [messaging.new_message(s) for s in services]
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dat_deviceState.deviceState.started = True
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try:
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while True:
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pm.send('controlsState', dat_controlsState)
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pm.send('deviceState', dat_deviceState)
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pm.send('radarState', dat_radar)
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time.sleep(1 / 100) # continually send, rate doesn't matter for deviceState
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except KeyboardInterrupt:
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for p in procs:
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managed_processes[p].stop()
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